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While the concepts of RSSR-SS motion generation, order defect elimination and branch defect elimination have all been well-researched over the years (individually and in combination), a major challenge exists when considering a general RSSR-SS optimization model for motion generation in the mathematical analysis software Matlab. To overcome this challenge, this work presents a small-scale nonlinear equation system for RSSR-SS motion generation. The equation system also includes inequality constraints to eliminate order defects and branch defects.

A small-scale optimization model for RSSR-SS motion generation with branch and order defect elimination in Matlab